The second part of the paper continues the description of the numerical procedure for optimal control problems for hybrid system exhibiting sliding motion behavior. The procedure is the implementation of the algorithm for these problems introduced in [1]}. In the first part of the paper we concentrated on describing the efficient way of evaluating reduced gradients of the optimization problem. We paid the attention to the case the hybrid system does not enter the sliding mode and its dynamics is described by ODEs. In the second part we supplement our considerations by analyzing the sliding motion case.
